Development of a MATLAB remote control package for kuka robots
Dissertant
Mismar, al-Mutazz Billah Muhammad Asad
Thesis advisor
University
Philadelphia University
Faculty
Faculty of Engineering
Department
Department of Mechatronics Engineering
University Country
Jordan
Degree
Master
Degree Date
2019
English Abstract
Robots have become an essential element in industry and have drew the attention of researchers and manufacturers.
Many companies are competing in the robotics manufacturing field.
Kuka is one of the leading innovative companies in the manufacture of industrial robots.
However, Kuka robots do not have a direct communication with PC to send and receive data.
To overcome this problem Kuka introduces an additional communication package to establish a communication between the robot and PC.
However, the package requires the user to calculate the forward and inverse kinematics and send the data as an XML file to the Kuka controller.
This Thesis presents a new method to program Kuka robots from a remote PC without the need of an additional software or the robot kinematics.
The method is to use MATLAB functions to program the robot.
KUKAVARPROXY was used to write and read variables in the robot.
MATLAB will send data to the KUKAVARPROXY while a KRL program is running, Then the robot will move according to the changes in the data.
Two case studies are used to test the package: the first is to check the motions separately while the second is to ensure that the package can be used for robot programming.
The results show that the developed package is successful in transmitting and receiving data between the PC (MATLAB) and Kuka robot.
Furthermore, control of point-to-point and linear motions using the developed package are tested and validated.
Main Subjects
Information Technology and Computer Science
Topics
No. of Pages
70
Table of Contents
Table of contents.
Abstract.
Chapter One : Introduction.
Chapter Two : Robotic system.
Chapter Three : Kuka package.
Chapter Four : Results and discussion.
Chapter Five : Conclusion and future work.
References.
American Psychological Association (APA)
Mismar, al-Mutazz Billah Muhammad Asad. (2019). Development of a MATLAB remote control package for kuka robots. (Master's theses Theses and Dissertations Master). Philadelphia University, Jordan
https://search.emarefa.net/detail/BIM-956640
Modern Language Association (MLA)
Mismar, al-Mutazz Billah Muhammad Asad. Development of a MATLAB remote control package for kuka robots. (Master's theses Theses and Dissertations Master). Philadelphia University. (2019).
https://search.emarefa.net/detail/BIM-956640
American Medical Association (AMA)
Mismar, al-Mutazz Billah Muhammad Asad. (2019). Development of a MATLAB remote control package for kuka robots. (Master's theses Theses and Dissertations Master). Philadelphia University, Jordan
https://search.emarefa.net/detail/BIM-956640
Language
English
Data Type
Arab Theses
Record ID
BIM-956640
